TW586999B - Transferring device - Google Patents

Abstract

The present invention relates to a transferring device comprising a control device for controlling the rotation of the support and wrist shafts of a robot that transfers goods and controlling the endless rotation of a transferring drive shaft. The transferring device comprises a rotating shaft (6), a drive (7) for rotating the shaft, an encoder for detecting the rotation of the shaft, a servo-control device (22) for controlling the drive (7) based on a program command, main control means (10) for controlling rotation, and an endless rotation control device (12) for controlling the endless rotation. Program commands are generated based on reference encoder values, and position control is performed. An encoder value corresponding to the amount of displacement is added or subtracted in response to commands from command means, and the reference encoder value is changed and stored. Thus, the control of endless rotation is achieved at any gear ratio while maintaining any range of operation.

Description

586999 i Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the Invention (1) [Technical Field] The present invention is an improvement on a robot or a conveyor (eonbeyor). [Background Art] In the past, the pillars of conventional robots, the rotation of the wrist shaft of the robot's wrist front end, and the conveyance of conveyors, etc., have adopted infinite rotation control to rotate the rotation shaft beyond 360 degrees or more. Such conventional conveying devices are described in, for example, Japanese Patent Laid-Open No. 6-7967. The publication discloses that infinite rotation control for controlling the wrist axis of a robot arm in units of 360 degrees and control for determining a predetermined angular position can be realized by the same hardware. During infinite rotation control, it will be driven by a motor that handles the rotation of the wrist axis The signal output by the device's encoder is reset every time the wrist axis rotates once, and every time it resets, the number of rotations is added (cuntup) to achieve infinite rotation. On the other hand, when determining angular position control, the U.S. standard encoding value that is reset every rotation is the origin, and the drive device is rotated until the signal output by the encoder becomes a predetermined value to achieve angular position positioning. In addition, the rotation ratio R of the wrist shaft to the driving device is set to 1: 2n (n is an integer), and the wrist device can be rotated even after an unlimited rotation, and the conveying device can be accurately and without mechanical deviation. In addition, Japanese National Unexamined Patent Publication No. 10-44076 discloses that the rotation ratio R of the wrist shaft and the driving device can be arbitrarily set to N / M, so that when the driving device rotates N, the rotation number counter is increased by a few% to realize Infinite rotation, and before increasing the M count, according to the scale of the rotation scale of the motor drive shaft, the Chinese National Standard (CNS) A4 specification is applicable. Heart tear 1 312258 --------------- ------- Order --------- (Please read the precautions on the back before filling out this page) 5. Description of the invention (2) Transfer device for calculating the rotation angle of the wrist shaft. Japanese Patent Application Laid-Open No. 10-217171 also discloses that the signal output from the encoder of the driving device that rotates the wrist shaft is reset every time the wrist shaft rotates, so that the number of rotations is counted up to achieve infinite rotation. In addition, the rotation ratio r of the wrist shaft to the driving device is set to 1: 2n (n is an integer), so that the driving device is rotated toward the origin, and the wrist shaft can be reset to the correct origin in a short time, and After setting the current value to the value of the rotation angle viewed from the operation origin, that is, the reference code value, the conveying device that restores the wrist shaft to the original value to eliminate mechanical deviation. As described above, the conventional conveying device uses the rotation axis to rotate when the driving device N rotates due to the speed-out means. When the driving device performs ν rotation, the coding value is changed, so that only the rotation axis and the driving device are rotated. When each value of N rotations is an integer, or when the value of M and N matches the resolution of the encoder, the encoding value is changed. However, at this time, the setting below the resolution capability cannot be made. Repeated transportation of t 'will cause errors to accumulate, and there is a problem that the correct transportation operation cannot be performed. In addition, in the production line, etc., the conveying belt is used to coordinate the distance between the conveyed materials and the manufacturing process. When printed by the Ministry of Economic Affairs, Intellectual Property, Production Bureau, and Consumer Corporation, the drive device for driving the conveyor requires multiple rotation controls and The positioning control of the predetermined angle is used when the deceleration means is a belt 'or the means for conveying the conveyed material is a belt conveyor. The rotation ratio of the deceleration means cannot be expressed as an integer. Therefore, the error accumulates when performing repeated conveyance operations, and there are The problem that the correct transfer operation cannot be performed. Furthermore, when linear or rotational movements are repeatedly repeated in one direction, if the program is executed based on the current value, then the current value is successively adjusted to the paper size. 关 Close '(CNSM4 specification 297 mm) 586999 A7 B7 V. Description of the invention p) When the value of the position command in the program increases, there is a problem that the program becomes more complicated. (Please read the precautions on the back before filling in this page) [Summary of the Invention] The present invention is developed to solve the above problems, and provides a deceleration method that can adopt any rotation ratio, and can change any rotation amount. The reference code value can omit redundant position control operations and make the program easier to transport the device. In addition, the present invention also aims to provide a conveying device that is suitable for an infinitely linear motion device such as a conveyor, and can change the reference code value for an arbitrary amount of movement, and can also be changed along with the display of the current value. The conveying device of the present invention can constantly detect the output value of the encoder that changes with the movement of the driving device, and memorize the origin reference code value of the program, and use the reference code value to generate the movement command to execute the program. When the program has When the reference value is moved, the code corresponding to the specified rotation amount or movement amount is added to or subtracted from the previous reference code value, and the position controller is rotated by the subsequent operation program. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs and 'adding and subtracting a substantial amount of movement value to the base code value from the ideal base code value, and the difference between the actual base code value and the base code value It is stored for the error part. When the reference encoding value is set next time, the error part is corrected and output, and the error is always smaller than the detection unit of the encoder. The conveying device of the present invention is configured as above, so infinite rotation control can be arbitrarily set or the rotation number ratio R of the rotation number N of the driving device and the rotation number M of the rotating shaft can be determined or determined based on the position of each predetermined angle. Paper size applies Chinese National Standard (CNS) A4 specification (2) 0 X 297 mm 3 312258 586999 A7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention (4) Extra actions can be omitted and the program can be simplified The effect. In addition, even if it is used in a linear motion device such as a conveyor belt, the number of rotations N of the driving device and the movement amount Mmm of the linear axis can be arbitrarily set to simplify the program, and the current value will be heavy after a predetermined distance Setting it to zero has the effect of easily grasping the position. Furthermore, when the present invention calculates a reference code value for realizing the above-mentioned consecutive position management, the difference between the ideal reference code value obtained by the calculation and the set actual reference code value is stored in setting the next reference code When the value is changed, the difference is corrected and output. Therefore, the effect that the position error is always smaller than the detection unit of the encoder can be achieved. [Brief description of the drawings] Fig. 1 is a configuration diagram of a robot apparatus having an infinite rotation axis according to the first embodiment of the present invention. Fig. 2 is a configuration diagram showing the axial relationship of the robot body in the first embodiment. Fig. 3 is a configuration diagram of the deceleration means portion of the sixth axis of the first embodiment. Fig. 4 is a flowchart of the reference encoder position shift processing during the infinite rotation processing. Fig. 5 is a flowchart of the "ten" side shift processing of the reference code value during the infinite rotation processing. Fig. 6 is a flowchart of the "one" side movement processing of the reference encoder during the infinite rotation processing. FIG. 7 is an explanatory diagram of a process of changing a reference code value. This paper size applies to China @ 家 standard (CNS) A4 specifications ⑵Q χ Norwegian public meal) ------4 312258 (Please read the precautions on the back page first) Binding-• Line-· 586999 A7 __B7_; __ 5 Description of the Invention (5) FIG. 8 is an explanatory diagram showing a process of moving a reference code value according to a specific example. Fig. 9 is a configuration diagram showing a conveyor device according to a second embodiment. Fig. 10 is a schedule diagram of the reference code value shift processing in the second embodiment. Fig. 11 is an explanatory diagram of reference code value shift processing in the second embodiment. Fig. 12 is a configuration diagram showing a hand of a robot according to a third embodiment. Fig. 13 is an explanatory diagram of the reference code value shift processing in the third embodiment. Fig. 14 is a configuration diagram of a robot and a workbench in a fourth embodiment. [Explanation of symbols] Printing of clothing by employees' cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 1 Control device 2 Robot body 3 1st to 5th axis 4 1st drive device 5 1st encoder 6 6th axis 7 2nd drive device 8 2nd code Device 20 1st servo control device 22 2nd servo control device 30, 33 CPU 31, 34 RAM 32, 35 ROM 38 interface 50 output shaft 51 first gear set 52 second gear set 53 reduction means 71 to 76 working table S0 to S7, S11 to S16, S21 to S26, S32 flow chart steps This paper size applies to China National Standard (CNS) A4 specification (210 x 297 mm) 5 312258 Packing ----------- Order ----- ---- Line (please read the notes on the back before filling this page) · 586999 V. Description of the invention (6) EORG reference code value R rotation number ratio X difference value c / b terminal number part A7 B7 S 6th Axis 6 position movement amount ENC decomposition ability a integer part of the reference code value movement amount MULTI position movement amount s multiple of JRC reference code value movement instruction AXIS movement target axis A, B, C, D movement point N rotation number M Movement amount of the conveyor 67 m Number of teeth of the first gear 51 η Tooth of the second gear 52 [Embodiment of the present invention is most value] of the first embodiment can be formed of a first embodiment of the first aspect of the present invention has the configuration of FIG graph robot apparatus of infinite rotation shaft. Fig. 2 is a structure diagram showing the relationship between the axes of the robot body. Fig. 3 is a configuration diagram of the deceleration means of the sixth axis. As shown in the figure, the transportation system is composed of a robot body 2 and a control device M. The robot body 2 side has an i-feed control device 20 for servo control to drive the arm and rotate the arm. The main body is: > Glaze 3, and the second servo control device 22 is used to perform servo ice hobbing. Wrist shaft infinite rotation: the system is installed on the front end of the 5th axis to the first! The 5th axis 3 'is set to detect its turner 5; while the 6th axis 6 is set to detect the music 1 code mountain, the second part of the momentum should be infant e. The 1st to 5th axis 3 are for example electric motor. ^ ^ No.] The moving device 4

The first encoder 5 detects the rotation angle of the 4th rotating device I of the moving device 4 and the rotation angle of the second driving device 7walking #. The rotation angle of the second driving device 7 is displayed.坌 Code & 8 check ^ _ encoder 5 and the first! The size of this paper is applicable to China National Standard (CNS) A4 specification (21〇 ^ 312258 1--ΓΓ ^ -------- t ----- (Please read the precautions on the back of ^^) ^ This page) II n 9 --------- * 6 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 ------------- B7__ V. Description of the Invention (7) The device 4 is provided with a number corresponding to each of the i-th to the fifth axes 3 (5 axes). The control device 1 is provided with a main control device 10, an infinite rotation control device 12, an interface 38, and an i-th servo control device 2. , And the second servo control device 22. The main control device 10 is composed of cpu 30, storage control program 32, memory program operation area, and encoder resolution capability. The rotation ratio of the deceleration means is compared with the reference encoding value and other parameters. It is composed of RAM 31. The infinite rotation control device 12 is composed of a CPU 33, a field of operation of ROM 35 'δ memory program storing infinite rotation control programs, and a ram 34 of processing results. In this implementation, although The main control device and the infinite rotation control device 12 are exemplified by using separate CPUs, ROMs, and RAMs, but the main control device 10 and the infinite rotation device 12 may also be used. Same as CPU, ROM, and RAM. Between the second drive device 7 and the sixth shaft 6, a first gear 51 installed on the output shaft 50 of the drive device 7 and a second gear installed on the sixth shaft 6 are provided. 52 is a reduction mechanism 53. The second encoder 8 is installed on the output shaft 50 and rotates integrally with the output shaft 50. The number of teeth of the first gear 51 is set to m (for example, 30), and the second gear 52 The number of teeth is set to η (for example, 100). At this time, the ratio R of the rotation number of the second driving device 7 to the rotation number of the sixth axis 6 is n / m (in this example, R = 100/30 = 10 / 3 = N / M; N = 10, M = 3) When the second drive device 7 (for example, 10) rotates N, the sixth axis 6 is for rotation M (for example, 3). Thus, in this embodiment, Although the deceleration means 53 is composed of two gears, it may be constituted by three or more gears. In addition, it may be constituted by a deceleration means other than a gear such as a conveyor belt or a timing belt. In this way, the rotation analogy R is It can be arbitrarily selected without being restricted by design. This paper size applies to China National Standard (CNS) A4 (210x 297 mm) 312258 ^ -------- ^ --------- (Please read the note on the back first Please fill in this page for further information.) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs? 5. V. Invention Description (8) The jealousy of the second encoder 8 is only the target target, and it is composed of 32 bits. In the wheel of the second encoder 8, Yan Λ 铪 is a value between 0 and 2 -1. That is to say, when the output shaft 50 is continuously rotated and pulled dry_ Baying turn 'the output of the second encoder 8 is repeated 〇-1 value. The position control of the complicated person is based on the reference code value, and the position is determined by the command. The so-called reference encoding value is sighed by the operator, etc., and is equivalent to the output value of the second encoder 8 at the operation origin position. Therefore, when there is a movement instruction by the program, the output value from the encoder to the encoding output is controlled. Value = the position of the reference code value + the code value of the position movement command amount.纟 The implementation of infinite rotation control is to move the reference code value managed by the infinite rotation control device ^ one by one in order to achieve position control during infinite rotation. Next, the operation of the first embodiment will be described. The main control device 10 controls the 1st to 5th axes by driving the first feeding control device 20 according to the program. ^ In detail, the first servo control device 20 makes the first driving according to the signal of the main control device 10 The device 4 operates to rotate the 3rd to 5th axes 3. The amount of rotation is fed back to the first by the first encoder 5! Servo control device 20. The signal for controlling the rotation of the sixth axis 6 passes through the main control device 10 and inputs the infinite rotation control device 12. When the infinite rotation control is not performed, the infinite rotation control device 12 does not process the signal output from the main control device 10, and is directly used to cause the second feeding control device 22 to operate. In the rotary infinite rotation control, a signal from the infinite control device 12 in the future to the autonomous control device 10 will change the amount of movement of the designated position in response to the designated position to cause the second servo control device 22 to operate. The second servo control vibration set 22 causes the second drive device 7 to operate and rotates the sixth shaft 6. The amount of rotation is fed back from the second encoder 8 to the second servo control device 22. If this paper size is in accordance with Chinese National Standard (CNS) A4 (210 X 297 mm) 8 312258 (Please read the precautions on the back page first) Binding ·-; Thread, 586999 A7 ------—_ 5 Description of the invention (9) ^ ~-(please read the precautions on the back before filling this page), the control device can perform general rotation according to the control signal from the main control device W, and control by infinite rotation Two actions of infinite rotation control of control 12 control signal. Therefore, in addition to the control signal, the PU 30 in the main control means ιPU 30 and the CPU 33 in the infinite rotation control device 12 also switch the infinite rotation implementation status and other information. In other words, the value of the second encoder 8 for detecting the rotation of the sixth axis 6 is transmitted from the second servo control device 22 to the infinite rotation device 12 and then to the main control device 10 to change the display of the current value. , Or update it as the reference code value for the motion control reference. Next, referring to the flowcharts of the control system in Figs. 4, 5, and 6 and the explanatory diagrams in Fig. 7 showing the relationship between the encoded value and the rotation angle, the position control of the infinite rotation control device 12 during infinite rotation will be described. The Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs prints the step s0 in Figure 4 and turns on the power, and starts the robot at the position of the 6th axis at 0 o'clock shown in Figure 7; The set point A reference code value (EOG) is read by the battery-backed RAM 34, and the reference code value (e〇rG) is used as a reference to be stored in the RAM in the control device 1 The parameters of each joint of 34 are initialized. Then, in step S2, the movement amount of the reference code value when the reference code value is moved is calculated by the position movement amount S 'until the position of point b is designated by the input means. The calculation of the movement amount of the reference code value is based on the rotation ratio R of the deceleration means 53 of the position movement amount S ′ of the sixth axis 6 and the resolution capability of the second encoder 8 (when the encoder or the driving device 7 rotates once) Output of 2nd encoder 8) ENC. For example, the position control 360 of the sixth axis 6 is rotated every time. The relationship between the specific encoding value and the rotation angle is shown in FIG. 8. The “Zhang” scale is applicable to the China Customs Standard (CNS) A4 specification. ^ Tear the public love. 9 312258 ^ 86999 ____ B7 V. Description of the invention (at 10 o'clock, the position movement amount s = 36 °. Cylinder, attack The ratio of the number of teeth recognized by the mitigation means 53 is R = N / M = 1G / 3, and the gear of the second series is converted to It ^ The solution capacity is ENc == 8192, the amount is in RAM 34, and the calculation reference code Value shift

Sx Rx ENC = 81920/3 The result is a fraction. The shift amount of the reference code value is a fractional form of a + c / b. a is the integer part of the shift amount of the reference code value, which is used to actually add or subtract the value to the reference code value. c / b is the remainder, which indicates the error, and is used in the next correction. When both b and c are positive integers, the error can be corrected and it is very suitable. However, c / b is a numerical value below the decimal point for precise management. When the accumulated error is greater than the coded detection value, the reference coded value is added and subtracted, and corrected to make c / b always the value detected by the encoder. Just do the following. In the following, for ease of explanation, it is assumed that c and b are integers. According to the position movement amount S, the rotation number ratio R, and the resolution of the encoder, it can be printed by the consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs ------ 丨 Order: (Please read the precautions on the back page) Force calculation As a result, if the movement amount of the reference code value is an integer, let b = 1 and c = 0. Among the above description conditions, a, b, and c are 3 = 2 7306 b = 3 c = 2 and stored in the infinite rotation control. Ram 34 of the device 12. In step S3, the variable X of the difference between the ideal reference code value and the actual reference code value is initialized to zero. X is the variable accumulated by the value of the error c / b described above each time the reference code value is moved, which can always be processed into 1 312258 586999 printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 V. Description of the invention (11) or less Value. The above steps from step SO to step S3 are the initialization processing when the robot is started. At step S4 ', it is determined whether there is a movement instruction of the reference code value. If so, proceed to step S5 »At this time, the movement of the reference code value can be performed automatically when the sixth axis 6 exceeds the motion range specified by the control device for infinite rotation, or according to a program instruction. The general formula of the instructions when following the program instructions is as follows:

JRC MULTI, AXIS JRC is the movement instruction of the reference code value, MULTi is the magnification value, and it is the moving object. A specific example of the movement command of the 6th axis in Fig. 8 is shown below. JRC + 1, 6 Based on the above movement command, the 6th axis is used as the target axis, and the reference code value is updated to the multiple of the position movement amount s memorized as a parameter, multi == + 1, and added to the original edited value. In the above example, the position movement amount s == 360, so B = the reference code value, change it to set the reference code value at point B = the reference code value at point A ENc + 273〇6 once again with the above The same command, the reference code value is moved to the point c above. In the above example, although the position shift amount 8 is recalled to the control device 1 with the parameter value 36 °, it can also be specified by the command JRC + 360, 6 and the direct position. The amount of movement S = 360. It is also possible to change the reference code value of the current position code of JRC 0 to prepare for execution. ^ The paper size applies the Chinese National Standard (CNS) A4 specification (2) 0 X 297 mm. 11 312258

-------------- Install --- (Please read the precautions on the back before filling out this page) ·; line · 586999 A7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs Explanation (^ In step 4 ', if there is no movement instruction of the reference encoding value, it is on standby until the movement instruction with the next reference encoding value is executed, and the normal program is executed. In step S4A', if it is determined that there is a movement instruction, the process proceeds to step S5. Determine the content of the processing according to the moving direction of the reference code value. When the moving direction of the reference code value is the "ten" side, proceed to step S6, and execute the moving process of the "ten" side of the reference code value as shown in FIG. On the other hand, if the movement direction of the reference code value is "one", the process proceeds to step S7, and the reference code value "one" side shift processing shown in FIG. 6 is performed. After step 6 or step S7 is performed, the process returns to Step S4: Standby until the movement instruction of the reference code value is described. Then, the reference code value "ten" side movement processing of step S6 will be described with reference to Fig. 5. First, in step Sii, the reference code value E0RG is added to move from the position. The quantity S, etc. The integer part a of the movement amount of the reference code value. Secondly, in step 312, it is determined whether the reference part has a number part of the movement amount of the reference value damage. If c = 0, the number part of the movement amount of the reference code value is 〇, the termination of the reference code value "+" side movement amount processing. If e is not 0, that is, when the end portion of the reference code movement amount is not 0, proceed to step S13 〇 in step S13 the difference X Add 0 and compare the sizes of χ and b in step S14. When the township X < b, the difference between the ideal reference code value and the f-interval reference code value is equal to or less than the code detection unit 1, so the reference code value "+ side shift processing is terminated. At X ^ b, the difference between the ideal reference code value and the actual reference code value becomes the code detection unit i or more, so the process proceeds to the next step. 12 312258 (Please read the precautions on the back page first) Installation. 丨Line · A7 V. Description of the invention (I3 in step S15 Α τα · ,,, and amended the reference encoding value EORG, for EORG ':. In the subsequent step S16, subtract b from the difference value and become two = (Please read the back (Please fill in this page again) The code value and the actual reference code value: the difference is less than two, and the reference code value is terminated ... The side movement processing is described below with reference to Fig. 6. The general movement + h soil thousand tear 'value_' side shift, step S21 by The reference code value E0RC} subtracts the integer part of the movement amount of the code value 佟 a The foreign standard 丨 the demon shao hurts a. Then, in step S22, it is confirmed whether the movement amount of the reference code value has an unnumbered part. ㈣, which is the reference code When the end of the movement amount is 0, the processing of the movement amount of the reference code value "-" side is terminated. When it is not, that is, when the end portion of the movement amount of the reference code is not Q, the process proceeds to step S23. 23 subtracts c from the difference χ. In step S24, the sizes of X and · b are compared. When x > _b, the difference between the ideal reference code value and the actual reference code value is insufficient code detection unit 1, so the base code value "-" side shift base processing is terminated. At this time, the difference between the ideal reference code value and the actual reference code value 'becomes the code detection unit 1 or more, so the process proceeds to step S25. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs In step S25, in order to compensate the reference code e0rg, EORG is subtracted by 1. Then, in step S26, the difference is added to b to become a state of 〇 $ -X < b, that is, the difference between the ideal reference code value and the actual reference code value becomes a state where the code detection unit 1 is insufficient, and the reference code value "_ "Side move processing. The difference j implementation form is the second embodiment of the present invention when it is used on a conveyor. The use of this paper size applies the Chinese National Standard (CNS) A4 specification (210 x 297 mm) 13 312258 ry 9 9 6 8 Ministry of Economic Affairs Printed by the Intellectual Property Bureau Employee Cooperative Cooperative A7 ______B7 _ V. The description of the invention (W) Figure 9, the flow chart of Figure 10, and the relationship between the coded value and the moving distance of Figure 丨 丨 illustrate the diagram. As shown in Fig. 9, when the driving device 60 rotates js [turns (5 turns), the conveyor 67 moves Mmm (18 mm), and the relationship between the actions is represented by the action ratio R (= N / M = 5/18) . Here, the movement of the reference code value for the infinite rotation control of the wrist axis of the robot is different from the flowcharts in FIGS. 4'5 and 6 as shown in step S32 in FIG. 10, and the movement amount of the reference code value does not change. Calculated from the angle and the distance traveled. The calculation of the movement amount of the reference code value is the position movement amount using the conveyor 67; §, the operation ratio R of the deceleration means 65, and the resolution capability ENC of the encoder 61. For example, as shown in Fig. 11, when the position control of the conveyor 67 is repeatedly performed in the range of 0 to 600 mm to perform the conveying operation, the specified position movement amount S = 600 mm is set, and the original reference encoding value EORG is set to The coded output value of point a is based on the program to execute the position control of the conveyor 67. When a series of operations are terminated and the reference code value EORG is set to the code wheel output value of point B ', the position of point B is set to the origin, that is, 0 mm, and the position control of the transmitter 67 is performed. If the number of rotations of the above-mentioned driving device 60 is N = 5 revolutions, the moving amount of the rotary machine 67 is M = 18mm, and the action ratio R of the deceleration means 65 is 5/18, and the resolution of the group code 61 is 8192, then the reference The shift of the encoded value is in the form of a fraction of Sx Rx EN04096000 / 3. If the shift amount of the reference code value is processed as a fractional form of a + c / b, then the specific values of a, b, and c become • Ί ------ ^ -------- order *- ------ · (Please read the note on the back page first) a = 1365333, b = 3, c = l The processing other than step 32 is exactly the same as the first embodiment, but

586999 ^ «. A7

(Please read the Zhuyin on the back? Matters and then fill out this page}] Shu 99 A7

(Please read the precautions on the back first, then this page) -I I I _ ^ ^ --------- line · 586999 A7 _B7_ V. Position instruction or position data creation of invention description (17). [Possibility of Industrial Utilization] As described above, the control device of the transfer device of the present invention is extremely suitable for a transfer operation of a repeating stroke type.

I ------------- Equipment · — (Please read the notes on the back before filling this page) Order:-丨 line. The paper size printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs applies China National Standard (CNS) A4 Specification (210 X 297 mm) 17 312258

Claims (1)

586999 No. 90101701 Patent Application Amendment of Patent Scope (May 23, 1992-A kind of moving device 'is a conveying means with a conveyor, robot, etc. that has an infinite linear movement axis as a control axis, and a control to control its infinite movement A conveying device for conveying articles by means of means, wherein the conveying means includes a control shaft; a drive device for driving the control shaft, and a deceleration hand that is not placed between the control shaft and the drive device is installed A position detector that detects the motion # amount of the control shaft on one of the rotation shaft or the drive device; the control means includes a servo control device that drives and controls the drive device according to a movement instruction of a program; The output value of the position detector at the origin of the program is a reference code value memorizing means memorized as a reference code value; a parameter memorizing means for memorizing the rotation ratio of the resolution capability of the position detector and the deceleration means; and Changed the method of printing the above-mentioned reference code value by the Employee Welfare Committee of the Central Standards Bureau of the Ministry of Economic Affairs The reference means of the reference coding value; when there is an instruction of the above-mentioned instruction means, the encoding value equivalent to the movement amount of the position instructed by the above-mentioned instruction means is added to, subtracted from, and stored as a new reference encoding value. The calculation method based on the above-mentioned reference code value memorizing method is characterized. 2. If the transfer scope of item No.! Of the patent application is applied, only those who have the command means say? Τ will change the current value with the new reference code value and change it to Special paper ruler when Guan Jiaxian (⑽7X ^ 711 ^^ 13 --- 586999 H3. 3. If the application for the scope of the patent, the eighth master, Ling Zhi, of which the above refers to the instructions of the 7 slaves The amount of position movement is the distance or the angle. 4. If you move the item in the scope of the patent application, "_ ^ L x clothes, which has: the reference code value calculated by the above calculation method and the actual set reference code value Means for memorizing the difference of the difference part; and correction means for correcting the output of the above-mentioned difference part when changing the next under-referenced coding value. 5 · -㈣ 送 装置 '#' by conveyor 'robot There is an infinite linear movement axis as the conveying means of the control axis, and a conveying device for conveying articles that is constituted by a control means that controls its infinite movement, wherein the conveying means has a control axis; a driving device for driving the control axis, sigh A deceleration means interposed between the control shaft and the driving device; and a position detector installed on either the rotation shaft or the driving device to detect the movement amount of the control shaft; the Central Standards Bureau of the Ministry of Economic Affairs The employee welfare committee prints the above-mentioned control means with a servo control device that drives and controls the above-mentioned driving device according to the movement instructions of the program; and uses the output value of the position detector at the origin of the program as a reference encoding value for storing the reference encoding value Ji Yi means; a parameter memory means for memorizing the resolution capability of the position detector, a rotation ratio of the deceleration means, a position or distance or an angular movement amount of the position; and a detection means for detecting the output value of the position detector; __ When the output value detected in the above paragraph becomes applicable to the above-mentioned position shift paper size Guoguo 4. Specifications ⑵ο X __ --—— 586999 The encoding value of a considerable part of momentum is very good. The above-mentioned reference code value is added and subtracted%. As a new reference code value, the value will be stored in the above-mentioned addition and subtraction nose values. The calculation means of the reference code value memorizing means is a feature. 6. For the moving device of the music item in the scope of patent application, in which the movement amount of the reference code value is directly designated as the rotation value of the encoder. 7. The conveying device according to item 5 of the patent application scope, in which, when there is an instruction of the pointing means, the present value is changed together with the new reference code value. 8. The conveying device according to item 5 of the scope of patent application, which includes a differential memory means for the difference between the reference code value calculated by «Hidden Accountant & and the actual reference code value; and the reference value is changed next time. When encoding a value, a correction means that corrects and outputs the above-mentioned difference portion. Printed by the Staff Welfare Committee of the Central Standards Bureau of the Ministry of Economic Affairs This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) 1 ^.